prikaz prve stranice dokumenta Mehatronički dizajn 3D inverznog njihala zasnovanog na načelu inercijalne sile
No public access
master's thesis
Mehatronički dizajn 3D inverznog njihala zasnovanog na načelu inercijalne sile
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. urn:nbn:hr:168:769888
Erić, Dominik
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Erić, D. (2023). Mehatronički dizajn 3D inverznog njihala zasnovanog na načelu inercijalne sile (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:769888

Erić, Dominik. "Mehatronički dizajn 3D inverznog njihala zasnovanog na načelu inercijalne sile." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:769888

Erić, Dominik. "Mehatronički dizajn 3D inverznog njihala zasnovanog na načelu inercijalne sile." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:769888

Erić, D. (2023). 'Mehatronički dizajn 3D inverznog njihala zasnovanog na načelu inercijalne sile', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 12 September 2024, https://urn.nsk.hr/urn:nbn:hr:168:769888

Erić D. Mehatronički dizajn 3D inverznog njihala zasnovanog na načelu inercijalne sile [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2023 [cited 2024 September 12] Available at: https://urn.nsk.hr/urn:nbn:hr:168:769888

D. Erić, "Mehatronički dizajn 3D inverznog njihala zasnovanog na načelu inercijalne sile", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:168:769888

Metadata
TitleMehatronički dizajn 3D inverznog njihala zasnovanog na načelu inercijalne sile
Title (english)Mechatronic design of a self-balancing three-dimensional inertia wheel pendulum
AuthorDominik Erić
MentorŠandor Ileš (mentor)
Committee memberŠandor Ileš (predsjednik povjerenstva)
Committee memberMario Vražić (član povjerenstva)
Committee memberZlatko Hanić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2023-07-13, Croatia
Abstract
Cilj ovog diplomskog rada je razviti i konstruirati nelinearni mehatronički postava oblika kocke, koji može skočiti s površine na jedan od svojih kutova i balansirati se samostalno. Simulacijski i eksperimentalni dio kocke razvijen je pomoću softvera SOLDIWORKS i MATLAB-ovog dodatka Simulink. Konačni postav kontrolira linearni kvadratni regulator. Kod je pisan u programskom okruženju STMCubeIDE koji je prilagođen za STM32 mikrokontrolere. Kod je pisan C programskom jezikom. Nakon simuliranja postava u Simulink-u započeto je građenje eksperimentalnog postava kojim su započeta mjerenja kojima se usavršava simulacijski postav kako bi se izračunala pojačanja regulatora. Također su odabrani aktuatori, senzori, mikroprocesor i kontroler glavnog aktuatora. Simulacijski postav pokazuje da se postav može balansirati na bilo kojoj površini i izdržavati male pomake do 2 stupnja.
Abstract (english)
The aim of this master's thesis is to develop and construct a nonlinear mechatronic system in the form of a cube, which can jump from a surface to one of its corners and balancing autonomously. The simulation and experimental aspects of the cube are developed using SOLIDWORKS software and MATLAB's Simulink add-on. The final system is controlled by a linear quadratic regulator. The code is written in the STMCubeIDE programming environment, which is tailored for STM32 microcontrollers. The code is written in the C programming language. After simulating the system in Simulink, the construction of the experimental setup was initiated, and measurements were conducted to refine the simulated model and calculate the controller gains. Additionally, actuators, sensors, a microprocessor, and the main actuator controller were selected. The simulation results demonstrate that the system can balance on any surface and withstand small disturbances up to 2 degrees.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:769888
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
Access conditionsClosed access
Terms of useLicence In copyright icon
Public note
Created on2023-10-11 08:49:18